Dynamic motion optimization for excavating machines

Abstract

A system for an excavating machine comprises a control system operating aspects of the excavation machine; and a monitoring system receiving inputs from one or more sensors determining if the excavating machine is in a first state or a second state. In operation, if the excavating machine is in the first state, then the control system enables the excavating machine to perform a first action; or if the excavating machine is in the second state, then the control system disable the excavating machine to perform the first action.

What is claimed is: 
     
       1. A system for an excavating machine comprising:
 a control system controlling the excavating machine including limiting a crowd speed based on a crowd angle; and 
 a monitoring system receiving inputs from one or more sensors carried by the excavating machine, 
 wherein the monitoring system determines a state of the excavating machine, 
 wherein, in operation, the control system enables the excavating machine to perform an action based on the state, and 
 wherein a processor of the control system receives input signals from at least one sensor and calculates a crowd angle and limits a maximum crowd speed as a function of a calculated crowd angle, such that when the crowd angle decreases, the maximum crowd speed allowed by the processor also decreases, 
 wherein controlling the excavating machine includes limiting speed at which a handle of the machine is extended or retracted based on the angle of the handle relative to an approximate vertical position, 
 wherein the handle is extended and retracted by an AC motor and the speed of the extraction and retraction is controllable by an operator via a user interface of the control system, 
 wherein controlling the excavating machine includes preventing the machine from stalling while in the operation of excavating, and 
 wherein the control system further comprises a processing system and at least one sensor, and the processing system monitors one or more input signals received from the at least one sensor and determines if the machine is about to stall, wherein the input signals from the at least one sensor comprise a voltage level of a motor of the machine, a torque on a handle of the machine, a tension in a hoist cable of the machine. 
 
     
     
       2. The system of  claim 1 , wherein controlling the excavating machine includes preventing a swing operation while the machine is excavating. 
     
     
       3. The system of  claim 1 , wherein the state relates to the machine actively digging and the action is preventing the machine from swinging. 
     
     
       4. The system of  claim 1 , wherein the state relates to the machine actively digging and the action is preventing a boom or arm of the machine from swinging. 
     
     
       5. The system of  claim 1 , wherein the state relates to the machine actively digging and the action is preventing a walking mechanism of the machine from moving. 
     
     
       6. The system of  claim 1 , wherein the control system further comprises a processing system and at least one sensor the at least one sensor sensing whether a dipper is engaged into a bank. 
     
     
       7. The system of  claim 1 , wherein the AC motor controls the operation of the handle. 
     
     
       8. The system of  claim 1 , wherein controlling the excavating machine includes limiting hoist speed of the machine. 
     
     
       9. The system of  claim 8 , wherein the control system further comprises a processing system and at least one sensor, wherein the processing system monitors one or more input signals received from the at least one sensor and calculates the hoist speed and a load in an excavating member of the machine. 
     
     
       10. The system of  claim 9 , the processing system of the control system limiting a maximum lowering hoist speed as a function of the load in the excavating member. 
     
     
       11. The system of  claim 9 , the processing system of the control system limiting a maximum raising hoist speed as a function of the load in the excavating member. 
     
     
       12. The system of  claim 1 , wherein the control system further comprises a processing system and at least one sensor, and the processing system monitors one or more input signals received from the at least one sensor and determines if the machine is about to stall.